Traversal Path Planning Algorithm for Multiple Unmanned Vessel Formations Based on Insertion Path Wildfire Algorithm

In order to efficiently obtain the underwater geomorphological information of islands and reefs and their surrounding waters, this paper proposes a formation traversal path planning algorithm based on the cooperative operation of multiple unmanned vessels. The algorithm adopts the pilot-follower mode for formation control, and utilizes the nonlinear quadtree method for fine grid division of the complex and variable waters to adapt to the actual survey requirements. In terms of path planning, this paper combines the insertion path method and wildfire algorithm to improve the traversal efficiency under the premise of ensuring the comprehensive coverage of the waters. Aiming at the narrow waters generated by the edge of the quadtree segmentation grid obstacle, this paper designs a formation transformation mechanism, which significantly improves the task execution efficiency and the comprehensiveness of the water exploration. Through simulation experiments, it is verified that the algorithm proposed in this paper is able to plan a path with high connectivity, effectively realize the traversal of the specified area, and significantly improve the efficiency and quality of the survey operation.